Automated system for autonomous driving of a vehicle and a method for the same

Abstract

An apparatus for autonomous driving of a vehicle may comprise a processor configured to execute instructions stored in a memory to cause the apparatus to perform receiving, from a navigation system, a first path, generating, based on the first path, a second path, and autonomously driving, following the second path, the vehicle, analyzing information provided from at least one of a sensor module of the vehicle or an external server, determining, based on an error range and a location of the vehicle, whether the vehicle deviates from the first path or the second path, and generating, based on the determining, a third path.

What is claimed is: 
     
         1 . An apparatus for driving of a vehicle, the apparatus comprising:
 a processor; and   a memory storing instructions that, when executed by the processor, cause the apparatus to perform:
 receiving, from a navigation system, a first path; 
 generating, based on the first path, a second path; 
 autonomously driving, following the second path, the vehicle; 
 analyzing information provided from at least one of a sensor module of the vehicle or an external server; 
 determining, based on an error range and a location of the vehicle, whether the vehicle deviates from the first path or the second path; and 
 generating, based on the determining, a third path. 
   
     
     
         2 . The apparatus of  claim 1 , wherein the autonomously driving comprises autonomously driving, following the third path, the vehicle, until receiving a newly generated path from the navigation system. 
     
     
         3 . The apparatus of  claim 1 , wherein the generating the second path is based on a high definition (HD) map which covers:
 a first range ahead of a current location of the vehicle; and   a second range in rear of the current location, the second range being smaller than the first range.   
     
     
         4 . The apparatus of  claim 1 , wherein the information comprises at least one of:
 a distance to an object;   a direction and a speed of the object;   road sign information;   traffic sign information;   road construction sign information; or   information of another vehicle driving on an adjacent lane.   
     
     
         5 . The apparatus of  claim 2 , wherein, if the vehicle deviates from the first path or the second path, the instructions, when executed by the processor, further cause the apparatus to perform:
 determining a first road which is along the first path and a plurality of roads directed differently from the first road; and   obtaining a dot product of:
 a first vector along the first road; and 
 a comparison vector along each of the plurality of roads. 
   
     
     
         6 . The apparatus of  claim 5 , wherein the generating the third path comprises:
 determining, among the plurality of roads, a road of which the comparison vector makes a greatest dot product with the first vector; and   including the determined road in the third path.   
     
     
         7 . The apparatus of  claim 1 , wherein:
 the first path comprises a global path based on a standard definition (SD) map; and   the second path comprises a local path based on a high definition (HD) map.   
     
     
         8 . The apparatus of  claim 1 , wherein, if the vehicle deviates from the first path or the second path, the instructions, when executed by the processor, further cause the apparatus to perform:
 determining, among a plurality of roads ahead of the vehicle, a road having a greatest number of lanes; and   including the determined road in the third path.   
     
     
         9 . The apparatus of  claim 1 , wherein, if the vehicle deviates from the first path or the second path, the instructions, when executed by the processor, further cause the apparatus to perform:
 determining, among a plurality of roads ahead of the vehicle, a road on which the vehicle is unable to be autonomously driven; and   excluding the determined road from the third path.   
     
     
         10 . The apparatus of  claim 1 , wherein, if the vehicle deviates from the first path or the second path, the instructions, when executed by the processor, further cause the apparatus to perform:
 determining, among a plurality of roads ahead of the vehicle, a road having a U-turn lane; and   including the determined road in the third path.   
     
     
         11 . A method for driving a vehicle, the method comprising:
 receiving, from a navigation system, a first path;   generating, based on the first path, a second path;   analyzing information provided from at least one of a sensor module of the vehicle or an external server;   determining, based on an error range and a location of the vehicle, whether the vehicle deviates from the first path or the second path; and   generating, based on the determining, a third path.   
     
     
         12 . The method of  claim 11 , further comprising:
 autonomously driving, following the third path and until receiving a newly generated path from the navigation system, the vehicle.   
     
     
         13 . The method of  claim 11 , wherein the generating of the second path is based on a high definition (HD) map which covers:
 a first range ahead of a current location of the vehicle; and   a second range in rear of the current location, the second range being smaller than the first range.   
     
     
         14 . The method of  claim 11 , wherein the information comprises at least one of:
 a distance to an object;   a direction and a speed of the object;   road sign information;   traffic sign information;   road construction sign information; or   information of another vehicle driving on an adjacent lane.   
     
     
         15 . The method of  claim 12 , further comprising:
 determining a first road which is along the first path and a plurality of roads directed differently from the first road; and   obtaining a dot product of:
 a first vector along the first road; and 
 a comparison vector along each of the plurality of roads. 
   
     
     
         16 . The method of  claim 15 , wherein the generating of the third path comprises:
 determining, among the plurality of roads, a road of which the comparison vector makes a greatest dot product with the first vector; and   including the determined road in the third path.   
     
     
         17 . The method of  claim 11 , wherein:
 the first path comprises a global path based on a standard definition (SD) map; and   the second path comprises a local path based on a high definition (HD) map.   
     
     
         18 . The method of  claim 11 , wherein the third path comprises, among a plurality of roads ahead of the vehicle, a road having a greatest number of lanes. 
     
     
         19 . The method of  claim 11 , further comprising:
 determining, among a plurality of roads ahead of the vehicle, a road on which the vehicle is unable to be autonomously driven; and   excluding the determined road from the third path.   
     
     
         20 . The method of  claim 11 , wherein the third path comprises, among a plurality of roads ahead of the vehicle, a road having a U-turn lane.